- Windows
- Opencv 3.4
- Qt 5.10.1
- C++ 17
可使用Kinect2.0摄像头,对标定板进行拍照。
支持棋盘格标定板,手动设定棋盘格的角点数量。
根据相机标定步骤设定的标定格尺寸
,求得图像坐标,在世界坐标系(棋盘坐标系)中的坐标。下图中,每张图都显示对应世界坐标系坐标轴。
机械臂TCP坐标系Z轴与棋盘格垂直,给出三个基于Base坐标系的匹配点,即可求出基于2D的转换关系,即2D手眼标定。进而可以以图像坐标转换至机械臂坐标,实现手眼动作。
An application of 2D eye-to-hand calibration for UR robotics
License: BSD 3-Clause "New" or "Revised" License
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